The Queen welcomes King Willem-Alexander and Queen Maxima on state visit – live updates

King Willem-Alexander and Queen Maxima of the Netherlands were treated to a grand ceremonial welcome as they arrived for their first UK state visit on Tuesday. The Dutch king and queen were met by Prince Charles and the Duchess of Cornwall at the Dutch ambassador's residence in the morning, after which the group travelled to Horse Guards Parade.

Willem-Alexander and Maxima, who have a good relationship with the British royal family, were then formally welcomed by the Queen. As is tradition in a ceremonial welcome, the Guard of Honour gave a Royal Salute and presentations were made. The Dutch national anthem was also played. Prince Charles and King Willem-Alexander inspected the Guard of Honour, after which the royals took part in a grand state carriage procession along The Mall to Buckingham Palace.

The group were able to catch up in private over lunch at Buckingham Palace, hosted by the Queen. The Dutch royals then viewed a special exhibition in the Picture Gallery, made up of items from the Royal Collection relating to the Netherlands.

The royals are staying at Buckingham Palace during their visit. This is their first state visit to the UK as king and queen. Willem-Alexander's parents Queen Beatrix and Prince Claus last made a trip in an official capacity in November 1982.

Willem-Alexander and Maxima, who attended Prince William and Kate's wedding in 2011, returned to the wedding venue – Westminster Abbey – after lunch. They laid a wreath at the Grave of the Unknown Warrior as prayers were said by the Dean. The couple were also given a short tour of the Abbey.